CN115903670A

CN115903670A - Motion control system and method

Info

Publication number: CN115903670A
Application number: CN202211392751.3A
Authority: CN
Inventors: 曲欣茹; 彭兴文; 王堃
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2022-11-08
Filing date: 2022-11-08
Publication date: 2023-04-04
Also published as: WO2024099231A1

Abstract

The invention provides a motion control system and a method, wherein the motion control system comprises: the mobile device comprises a control platform and at least one mobile device, wherein the control platform is communicated with each mobile device through at least two communication links; the control platform is configured to generate an emergency stop instruction under the condition that the safety event is detected to be triggered, and transmit the emergency stop instruction to the mobile equipment through a first communication link, wherein the first communication link is a communication link with a preset safety communication protocol in at least two communication links; the mobile equipment is configured to receive the emergency stop instruction through the first communication link, analyze the emergency stop instruction by using a preset safety communication protocol, and execute shutdown operation based on the analysis result. By arranging at least two communication links between the control platform and the mobile equipment and transmitting the emergency stop instruction by using the first communication link which accords with the preset safety communication protocol, the occurrence probability of transmission failure when the emergency stop instruction is transmitted to the mobile equipment is reduced, and the safety of emergency stop instruction transmission is improved.

Description

Motion control system and method

Technical Field

The invention relates to the technical field of mobile equipment control, in particular to a motion control system. The invention also relates to a motion control method.

Background

With the development of mobile equipment technology, more and more mobile equipment is widely applied to industrial services such as freight transportation, storage, logistics, catering and the like, and great convenience is brought to the production and life of human beings.

In a mobile device working scene, when a mobile device is controlled, a corresponding control signal is transmitted to the mobile device, so that the mobile device moves according to the control signal, but when a channel for transmitting the control signal fails or has a potential safety hazard (the control signal is at risk of being tampered), the mobile device cannot be managed by transmitting the control signal, and a risk of robot runaway may be caused, and therefore, a safe motion control method is urgently needed.

Disclosure of Invention

In view of this, embodiments of the present invention provide a motion control system to solve the technical defects in the prior art. The embodiment of the invention also provides a motion control method.

According to a first aspect of embodiments of the present invention, there is provided a motion control system including: the mobile device comprises a control platform and at least one mobile device, wherein the control platform is communicated with each mobile device through at least two communication links;

the control platform is configured to generate an emergency stop instruction under the condition that a safety event is detected to be triggered, and transmit the emergency stop instruction to the mobile equipment through a first communication link, wherein the emergency stop instruction conforms to a preset safety communication protocol, and the first communication link is a communication link of the preset safety communication protocol in at least two communication links;

the mobile equipment is configured to receive the emergency stop instruction through the first communication link, analyze the emergency stop instruction by using a preset safety communication protocol, and execute shutdown operation based on the analysis result.

According to a second aspect of the embodiments of the present invention, there is provided a motion control method applied to a motion control system, the motion control system including: the mobile device comprises a control platform and at least one mobile device, wherein the control platform is communicated with each mobile device through at least two communication links; the motion control method comprises the following steps:

the control platform generates an emergency stop instruction under the condition that a safety event is detected to be triggered, and transmits the emergency stop instruction to the mobile equipment through a first communication link, wherein the emergency stop instruction conforms to a preset safety communication protocol, and the first communication link is a communication link of the preset safety communication protocol in at least two communication links;

the mobile equipment receives the emergency stop instruction through the first communication link, analyzes the emergency stop instruction by using a preset safety communication protocol, and executes a stop operation based on an analysis result.

According to a third aspect of the embodiments of the present invention, there is provided a motion control method applied to a control platform, the motion control method including:

generating an emergency stop instruction under the condition that the safety event is detected to be triggered;

and transmitting the emergency stop instruction to the mobile equipment through a first communication link, wherein the emergency stop instruction conforms to a preset safety communication protocol, and the first communication link is a communication link with the preset safety communication protocol in at least two communication links between the control platform and the mobile equipment.

According to a fourth aspect of the embodiments of the present invention, there is provided a motion control method applied to a mobile device, the motion control method including:

receiving an emergency stop instruction transmitted by a control platform through a first communication link, wherein the first communication link is a communication link with a preset safety communication protocol in at least two communication links between the control platform and the mobile equipment, and the emergency stop instruction conforms to the preset safety communication protocol;

and analyzing the emergency stop instruction by using a preset safety communication protocol, and executing a stop operation based on an analysis result.

The motion control system provided by the invention comprises: the mobile device comprises a control platform and at least one mobile device, wherein the control platform is communicated with each mobile device through at least two communication links; the control platform is configured to generate an emergency stop instruction under the condition that the safety event is detected to be triggered, and transmit the emergency stop instruction to the mobile equipment through a first communication link, wherein the first communication link is a communication link with a preset safety communication protocol in at least two communication links; the mobile equipment is configured to receive the emergency stop instruction through the first communication link, analyze the emergency stop instruction by using a preset safety communication protocol, and execute shutdown operation based on the analysis result. The emergency stop instruction according with the preset safety communication protocol is generated by arranging at least two communication links between the control platform and the mobile equipment under the condition that the control platform detects that the safety event is triggered, so that the emergency stop instruction can be transmitted to the mobile equipment through a first communication link of the preset safety communication protocol, the mobile equipment analyzes the emergency stop instruction after receiving the emergency stop instruction transmitted by the first communication link, and executes stop operation based on an analysis result, namely, the first communication link is set for the emergency stop instruction, different communication links are adopted for transmitting with other communication signals, and the transmission of the emergency stop instruction is protected through the preset safety communication protocol, so that the occurrence probability of transmission failure or errors when the emergency stop instruction is transmitted to the mobile equipment is reduced, and the transmission safety of the emergency stop instruction is improved.

Drawings

Fig. 1 is a schematic structural diagram of a motion control system according to an embodiment of the present invention;

FIG. 2 is an interaction flow diagram under a motion control system architecture according to an embodiment of the present invention;

FIG. 3 is a flow chart of actuator interaction under a motion control system architecture according to an embodiment of the present invention;

FIG. 4 is a flow chart illustrating actuator interaction under another motion control system architecture, according to an embodiment of the present invention;

FIG. 5a is a data flow diagram of a motion control system according to an embodiment of the present invention;

FIG. 5b is a data flow diagram of another motion control system provided by an embodiment of the present invention;

FIG. 6 is an interaction flow diagram of a motion control method according to an embodiment of the present invention;

FIG. 7 is a flowchart of a motion control method applied to a control platform according to an embodiment of the present invention;

fig. 8 is a flowchart of a motion control method applied to a mobile device according to an embodiment of the present invention;

fig. 9 is a block diagram of a control platform according to an embodiment of the present invention;

fig. 10 is a block diagram of a mobile device according to an embodiment of the present invention.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather construed as limited to the embodiments set forth herein.

The terminology used in the one or more embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the invention. As used in one or more embodiments of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present invention refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that, although the terms first, second, etc. may be used herein to describe various information in one or more embodiments of the present invention, such information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first aspect may be termed a second aspect, and, similarly, a second aspect may be termed a first aspect, without departing from the scope of one or more embodiments of the present invention.

First, the noun terms to which one or more embodiments of the present invention relate are explained.

ISO 3691-4: currently the only international standard for industrial unmanned vehicles.

Three stop categories: the stop category 0 is a stop achieved by immediately cutting off power to the machine equipment, that is, a stop not controlled; stop category 1 is a controlled stop in which power to the machine implement is maintained to gradually stop the machine. The power supply is cut off only when the machine equipment is completely stopped; stop category 2 is a controlled stop in which power to the machine tool drive is maintained at all times.

A network segment generally refers to a portion of a computer network that can communicate directly using the same physical layer device.

Transparent transmission: namely, transparent transmission (pass-through), means that it is only responsible for transmitting the transmitted content from the source address to the destination address without any change to the content of the service data, regardless of the content of the transmitted service in the communication.

System software: the system is a system for controlling and coordinating a computer and external equipment and supporting the development and operation of application software, is a set of various programs without user intervention, and has the main functions of scheduling, monitoring and maintaining the computer system.

Automatic Guided Vehicle (AGV): the automated guided vehicle has the remarkable characteristic that the automated guided vehicle is unmanned, and an automatic guiding system is arranged on the AGV, so that the automated guided vehicle can ensure that the system can automatically run along a preset route without manual navigation, and goods or materials are automatically conveyed to a destination from a starting point.

Wireless (WIFI, wireless Fidelity): also known as mobile hotspots, represent wireless fidelity, and are often presented in abbreviated form only.

Grating: an optical device is formed by a large number of parallel slits of equal width and equal spacing.

Internet Protocol (IP, internet Protocol Address) Address: also known as internet protocol address, is a unified address format provided by the IP protocol, which is a protocol designed for communication over computer networks.

CIP Safety protocol: is an extension of Common Industrial Protocol (CIP) standard functionality, which can be used in functional security applications, which extends the model by adding CIP security application layer functionality to ensure that the security system responds with the correct behavior or to select a predetermined security state within a known time when normal communication or errors occur.

Profisafe protocol: the system is a fault safety protocol, and combines a standard field bus technology and a fault safety technology into a system, namely fault safety communication and standard communication coexist on the same cable, and safety communication is not realized through a redundant cable.

PCIE (Peripheral Component Interface extended) bus: the bus is a tree-shaped interface bus, which mainly provides a bus interface for a Central Processing Unit (CPU) to access peripheral devices.

EtherNet/IP: is a modern standard protocol for data encapsulation using CIP protocols in ethernet.

Controller Area Network bus (CAN): the bus is a serial communication protocol bus for real-time application and is one of the most widely applied field buses in the world.

In the application scene of the existing AGV, before a system end and a plurality of AGVs in a field, an AGV dispatching instruction and a system emergency stop instruction are transmitted through the same wireless link, under the communication architecture, the AGV dispatching instruction and the system emergency stop instruction are interacted through a data link layer, the protection of additional safety measures is lacked, namely the system emergency stop instruction and the AGV dispatching instruction have the same error probability, the problem that the system emergency stop function cannot be reliably realized is brought, and the requirement on the safety level required by emergency stop in related safety standards cannot be met.

Furthermore, a plurality of AGVs run at a high speed under system scheduling, when abnormal conditions occur, the server receives the request, issues a system emergency stop instruction through software control, reaches each AGV in the site under the system emergency stop instruction in a wireless mode, and the AGV receiving the instruction stops immediately. The transmission mode of the emergency stop instruction causes the emergency stop instruction to lack the protection of a safety communication layer, and the possibility that the instruction is tampered, damaged and the like exists, so that the AGV does not receive the correct emergency stop instruction, cannot stop in time and causes risks.

In order to solve the above technical problem, the motion control system provided by the present invention comprises: the mobile device comprises a control platform and at least one mobile device, wherein the control platform is communicated with each mobile device through at least two communication links; the control platform is configured to generate an emergency stop instruction under the condition that the safety event is detected to be triggered, and transmit the emergency stop instruction to the mobile equipment through a first communication link, wherein the first communication link is a communication link with a preset safety communication protocol in at least two communication links; the mobile equipment is configured to receive the emergency stop instruction through the first communication link, analyze the emergency stop instruction by using a preset safety communication protocol, and execute shutdown operation based on the analysis result. The emergency stop instruction according with the preset safety communication protocol is generated by arranging at least two communication links between the control platform and the mobile equipment under the condition that the control platform detects that the safety event is triggered, so that the emergency stop instruction can be transmitted to the mobile equipment through a first communication link of the preset safety communication protocol, the mobile equipment analyzes the emergency stop instruction after receiving the emergency stop instruction transmitted by the first communication link, and executes stop operation based on an analysis result, namely, the first communication link is set for the emergency stop instruction, different communication links are adopted for transmitting with other communication signals, and the transmission of the emergency stop instruction is protected through the preset safety communication protocol, so that the occurrence probability of transmission failure or errors when the emergency stop instruction is transmitted to the mobile equipment is reduced, and the transmission safety of the emergency stop instruction is improved. Further, the safe transmission mode of the emergency stop command provided by the invention can meet the relevant safety standard and is within the acceptable range of the requirement, namely, the first communication link for transmitting the emergency stop command can meet the safety level requirement specified by the standard ISO 3691-4 in the field of unmanned industrial vehicles.

In the present invention, a motion control system is provided. The present invention also relates to a motion control method, which is described in detail in the following examples.

Referring to fig. 1, fig. 1 shows a schematic structural diagram of a motion control system according to an embodiment of the present invention, the motion control system includes a control platform 102 and at least one mobile device 104, taking one mobile device 104 as an example, the control platform 102 communicates with the mobile device 104 through at least two communication links, where the first communication link 103 specifically includes:

the control platform 102: configured to generate an emergency stop instruction upon detecting that a security event is triggered, and transmit the emergency stop instruction to the mobile device 104 through a first communication link 103, wherein the emergency stop instruction conforms to a preset secure communication protocol, and the first communication link 103 is a communication link of the preset secure communication protocol in the at least two communication links;

the mobile device 104 is configured to receive the emergency stop instruction through the first communication link 103, parse the emergency stop instruction by using the preset safe communication protocol, and execute a shutdown operation based on a parsing result.

Specifically, the control platform refers to a platform for controlling a plurality of mobile devices, for example, in a warehouse management scenario, there is an AGV working area, there may be a plurality of AGVs inside, a control platform is disposed outside the AGV working area, and monitors and controls the AGVs, the control platform may be composed of at least one piece of entity hardware, and the control includes but is not limited to controlling movement, controlling transportation, controlling deceleration, controlling shutdown, and the like, and by controlling the mobile devices, scheduling and stopping of the mobile devices may be implemented, for example, the control platform may include a server for generating a scheduling instruction (the scheduling instruction is specifically generated by software on the server), and may further include a safety controller for generating an emergency stop instruction (the emergency stop instruction is specifically generated by a trigger response of the safety controller to a safety event). Correspondingly, the mobile device refers to a device which can autonomously move or stop according to the instruction of the control platform, for example, the mobile device may be a robot, an AGV, or the like, and the autonomous mobile device performs corresponding processing through the instruction of the control platform, so that the control platform can control the robot device.

Accordingly, the safety event refers to a condition required by the device to safely operate, for example, the triggering of the safety event may be that an emergency stop button in a mobile device area is pressed, a light barrier detects that the mobile device is blocked or a safety door lock is opened, and the like, and after the events are triggered, the mobile device corresponding to the working area needs to perform corresponding processing, namely, emergency stop operation. When the safety event is detected to be triggered, the control platform generates an emergency stop instruction, transmits the emergency stop instruction to the mobile equipment end, and carries out corresponding emergency stop processing by the mobile equipment, namely, whether the safety event is triggered or not is detected, so that corresponding processing can be rapidly carried out under the condition that the safety event is triggered, and a processing flow corresponding to the safety event is prevented from not being generated. The emergency stop instruction is an instruction containing information for instructing the mobile equipment to perform emergency stop, and the emergency stop instruction can enable the mobile equipment to perform emergency stop operation in any state until the mobile equipment stops.

Further, the communication link refers to a signal transmission channel between two nodes, and the communication link may be a wireless communication link or a wired communication link. In the motion control system, at least two communication links exist between the control platform and the mobile device, wherein a first communication link is a link of a preset safety communication protocol, the first communication link is protected by the preset safety communication protocol, so that when an emergency stop command conforming to the preset safety communication protocol is transmitted through the first communication link, the emergency stop command can be protected by the preset safety communication protocol, and the emergency stop command and other commands are transmitted by using different communication links, for example, a scheduling command can be transmitted by using a second communication link different from the first communication link. The preset safety communication protocol refers to a safety communication protocol which is preset and used for protecting a first communication link, and the preset safety communication protocol is added into the first communication link, so that when the emergency stop instruction is transmitted to the mobile platform from the control platform, the first communication link is used, and meanwhile, the protection effect is further played, and the problem that when the emergency stop instruction and other instructions share the same communication link, the emergency stop instruction cannot be transmitted due to the fact that other instructions are in a state is avoided.

Optionally, the preset secure communication protocol is generally a CIP safety protocol or a Profisafe protocol.

Based on the method, when the control platform detects that the safety event is triggered, the control platform quickly reacts to generate an emergency stop instruction which accords with a preset safety communication protocol, so that the emergency stop instruction can pass through a first communication link of the preset safety communication protocol, and then the control platform transmits the emergency stop instruction to the mobile equipment through the first communication link; the mobile device receives the emergency stop instruction through the first communication link, and the emergency stop instruction is required to meet a preset safety communication protocol when being generated, so that when the mobile device is required to perform corresponding processing according to the instruction, the mobile device is analyzed in advance to obtain an analysis result, and then corresponding shutdown operation is performed based on the analysis result, wherein the shutdown operation can be that the mobile device performs deceleration stop operation or that the mobile device performs shutdown operation.

Referring to fig. 2, fig. 2 is a flowchart illustrating an interaction under a motion control system architecture according to an embodiment of the present invention.

In an alternative embodiment of the present invention, the control platform includes a safety trigger mechanism 202 and a first safety control mechanism 204;

the safety trigger mechanism 202 is configured to generate a safety event trigger signal to be sent to the first safety control mechanism 204 when recognizing that an event meeting a safety trigger condition occurs;

the first safety control mechanism 204 is configured to receive the safety event trigger signal sent by the safety trigger mechanism 202, encode the safety event trigger signal by using the preset safety communication protocol to obtain an emergency stop instruction, and transmit the emergency stop instruction to the mobile device through a first communication link.

Specifically, the safety trigger mechanism 202 is a mechanism that generates a safety event by triggering, for example, the triggering may be clicking an emergency stop button, opening a safety door, and the like, the safety trigger mechanism 202 may be an emergency stop button, a safety door, a grating, and the like, the safety event is triggered by the safety trigger mechanism 202, and the platform and the mobile device are subsequently controlled according to the safety event to perform processing.

Alternatively, before a safety event is triggered by safety trigger mechanism 202, it may be that safety trigger mechanism 202 continues to output a steady signal, which disappears or makes an abrupt change when triggered; it is also possible that the safety trigger mechanism 202 does not output a signal, which when triggered, abruptly generates an output signal.

Optionally, there are many ways to trigger the safety trigger 202, and in one possible implementation, the safety trigger 202 is an emergency stop button, and the emergency stop button uses a dual-loop pulse, that is, two power supplies provide input and output for the emergency stop button, specifically, before the operator presses the emergency stop button, the emergency stop button is powered by loop 1 to provide a low pulse, and the output is a low level, and when the emergency stop button is pressed, loop 2 provides current for the emergency stop button to provide a high pulse to output a high level; in another possible implementation, the safety trigger mechanism 202 may be a safety door or a grating, and both the safety door and the grating use Output Signal Switch Device (OSSD) signals, and before the safety door is opened or the grating is blocked, the Output Signal Switch Device is in a closed state when outputting the signals, that is, the safety door and the grating do not Output signals, and after the safety door is opened or the grating is blocked, the Output signals are suddenly changed into high-level or low-level signals.

Specifically, the first safety control mechanism 204 is a main control mechanism in the control of the control platform on the mobile device, and is configured to control the movement and stop of the mobile device, and is configured to respond in time when the mobile device or a device connected to the mobile device fails or generates an abrupt change signal, for example, when the safety trigger mechanism 202 is detected to be triggered, an emergency stop instruction is generated when a safety event is generated, and the emergency stop instruction is transmitted to the mobile device, so that the situation that the mobile device cannot be processed in time when the mobile device fails or has an abrupt change is avoided. Referring specifically to fig. 2, the safety event trigger signal refers to a signal generated when the safety trigger mechanism 202 is triggered, and may be, for example, an emergency stop button is pressed, a light barrier is blocked, a safety door is opened and activated, and the like.

The encoding of the security event trigger signal by using the preset security communication protocol may be the encoding of the security event trigger signal by logic programming in the first security control mechanism 204, so as to obtain the emergency stop instruction conforming to the CIP safety protocol security format.

Optionally, referring specifically to fig. 2, the first safety control mechanism 204 may be a safety control mechanism including a first safety input and output interface, a first safety processor, and a safety network module, wherein the first safety input and output interface is configured to receive a safety event trigger signal generated by the safety trigger mechanism 202, and provide the received safety event trigger signal to the first safety processor for processing; the first security processor encodes the security event trigger signal into an emergency stop instruction conforming to a CIP safety protocol security format through a response of logic programming by using a preset security communication protocol, and before encoding the security event trigger signal, the signal needs to be checked, such as redundancy detection, delete or extract a repeated or wrong trigger signal, check data integrity, receive and display the trigger signal, the emergency stop button is only pressed down by half, determine whether a security event is really triggered and generated or not by checking the pressed event, detect timeout, determine whether the transmission time of the security event trigger signal from the security trigger mechanism 202 to the first control execution mechanism is timeout or not, such as the preset time threshold value is 0.01 second, compare the detected time with the preset time threshold value, determine whether the timeout or not, detect connection authorization detection, detect whether a mobile device needing to be controlled is connected with the control platform or not, and continue subsequent processing if the detection result is authorized; the safety network module sends corresponding instructions, namely emergency stop instructions or reset instructions, in the form of network ports.

By applying the scheme of the embodiment of the invention, the control platform comprises the safety trigger mechanism 202 and the first safety control mechanism 204, whether the safety event is triggered by the safety trigger mechanism 202 or not is judged, and under the triggering condition, the generated safety event is coded by the first safety control mechanism 204 to generate the emergency stop instruction, so that when the control platform triggers the safety event, the control platform directly processes the safety event trigger signal corresponding to the safety event, and generates the instruction which can be directly processed by the mobile equipment according to the safety event trigger signal, thereby improving the response efficiency of triggering the safety event and further improving the transmission efficiency of the emergency stop instruction.

In an alternative embodiment of the invention, the control platform includes a wireless transmitter 206;

the wireless transmitter 206 is configured to forward the emergency stop instruction to a destination port, and convert the emergency stop instruction into a wireless signal through the destination port to transmit the wireless signal to the mobile device, where the destination port is a port through which the control platform and the mobile device perform data transmission through the first communication link.

Specifically, the wireless transmitter 206 is used for transmitting a wireless signal, that is, converting the received emergency stop instruction into a wireless signal form, and then transmitting the wireless signal. Referring specifically to fig. 2, the wireless transmitter 206 may include a switch, a wireless controller, and a wireless access point, wherein the switch is configured to receive the emergency stop instruction, forward the emergency stop instruction to the wireless controller and the wireless access point, process the emergency stop instruction by the wireless controller and the wireless access point to obtain the emergency stop instruction in the form of a wireless signal, and transmit the wireless signal to the mobile device through the first communication link. The destination port is a port through which the control platform and the mobile device perform data transmission through the first communication link.

By applying the scheme of the embodiment of the invention, the emergency stop instruction is converted into the wireless signal form which can be transmitted by the wireless transmitter by using the wireless transmitter, so that the emergency stop instruction can be transmitted to the mobile equipment from the control platform through the first communication link in a wireless mode, the transmission efficiency is improved through the wireless transmission mode, and the emergency stop instruction is transmitted through the first communication link, so that the transmission in the wireless mode is guaranteed, and the safety of transmitting the emergency stop instruction is further improved.

In an optional embodiment of the present invention, the control platform further includes a network address translation device;

the wireless transmitter is further configured to transmit the emergency stop instruction to the network address translation device;

the network address translation device is configured to perform address translation on the emergency stop instruction, forward the emergency stop instruction after address translation to the destination port, and transmit the emergency stop instruction after address translation to the mobile device in a form of a wireless signal through the destination port.

Specifically, a Network Address Translation (NAT) device is a virtual NAT device, and performs internal NAT processing on cross-segment communication, that is, converts a Network Address of data sent by a wireless transmitter into a target Network Address, where the target Network Address conforms to a Network Address corresponding to a mobile device, and obtains data conforming to the target Network Address of the mobile device.

Exemplarily, in a cross-network segment scenario, the control platform includes a wireless transmitter and a network address translation device, and the control platform performs wireless signal transmission with the mobile device, where the mobile device and the wireless transmitter belong to different network segments, an IP address of the wireless transmitter belongs to a first network segment, and an IP address of the mobile device belongs to a second network segment, and then a signal transmitted by the wireless transmitter needs to be converted from the IP address of the first network segment to an IP address of the corresponding second network segment by using the network address translation device, so as to complete the cross-network segment conversion and transmission of the signal, and thus, the control platform and the mobile device belonging to different network segments realize signal transmission through the network address translation device.

By applying the scheme of the embodiment of the invention, the control platform also comprises the network address conversion equipment, and when the network segments of the control platform and the mobile equipment are different, the transmission of signals between the two ends can be realized through the network address conversion equipment, so that the subsequent mobile equipment can perform corresponding processing based on the received instruction.

In an alternative embodiment of the present invention, a mobile device includes a wireless receiver;

the wireless receiver is configured to receive the wireless signal through the first communication link and forward the wireless signal to an emergency stop instruction in an Ethernet port format.

Specifically, referring to fig. 2, the wireless receiver 208 is configured to receive a wireless signal and convert the received wireless signal into an ethernet-format emergency stop instruction, and the wireless receiver 208 may include a wireless receiving module, a wireless receiving processor, and a forwarding module; the wireless receiving module is configured to receive a wireless signal sent from the wireless transmitter 206 of the control platform and forward the wireless signal to the wireless receiving processor, where the wireless receiving processor is forwarded through a PCIE bus; the wireless receiving processor is used for transmitting the received wireless signals to the forwarding module and processing the wireless signals by the forwarding module; the forwarding module is used for converting the received wireless signals into an Ethernet port format and outputting the Ethernet port format.

By applying the scheme of the embodiment of the invention, the wireless receiver of the mobile equipment converts the received wireless signals into the emergency stop instruction in the Ethernet port format and forwards the emergency stop instruction, namely, the mobile equipment converts the received wireless signals into the signal in the format which can be identified when the mobile equipment end executes the received wireless signals at the beginning, so that the subsequent emergency stop instruction based on the Ethernet format can execute the stop operation conveniently.

In an alternative embodiment of the present invention, the mobile device includes a second security control mechanism 210 and an actuator 212;

the second safety control mechanism 210 is configured to analyze the emergency stop instruction by using the preset safety communication protocol to obtain an analysis result, and send the analysis result to the execution mechanism 212;

the execution mechanism 212 is configured to execute a shutdown operation based on the parsing result.

Specifically, the second safety control mechanism 210 is a mechanism for controlling and executing the mobile device based on an instruction of the control platform in the mobile device, specifically, the instruction received from the control platform is analyzed by using a preset safety communication protocol, and an analyzed result is output, for example, when the emergency stop instruction based on the control platform is processed, the second safety control mechanism 210 may analyze the emergency stop instruction to obtain an analyzed result, so that the mobile device may execute a stop operation based on the analyzed result. The executing mechanism 212 is a mechanism that executes the mobile device according to an instruction in the mobile device, for example, when an emergency stop instruction is received, a stop operation or a deceleration stop operation is executed based on the emergency stop instruction; and when the scheduling instruction is received, executing corresponding operation based on the scheduling instruction.

Optionally, referring specifically to fig. 2, the second security control mechanism 210 may include a network communication stack, a second processor, a security protocol stack, and a second secure input output interface; the network communication stack is an Ethernet/IP communication stack module, receives a control instruction, filters and identifies the received control instruction, recognizes the control instruction as a safety instruction received from a first communication link, considers the control instruction as an emergency stop instruction, forwards the emergency stop instruction to the safety protocol stack, analyzes the emergency stop instruction which accords with a preset safety communication protocol through the preset safety communication protocol by the safety protocol stack to obtain an analysis result, and then safely outputs the analysis result in an input and output quantity form through a second safety input and output interface. The second processor is configured to configure initialization information of the network communication stack, acquire state information and fault information of internal modules included in the second safety control mechanism 210, and output initial state information, fault information, and the like of each module in the second safety control mechanism 210.

By applying the scheme of the embodiment of the invention, the mobile device comprises the second safety control mechanism 210 and the execution mechanism 212, when the second safety mechanism receives the emergency stop instruction, the second safety mechanism processes the emergency stop instruction to determine that the emergency stop instruction is the safety instruction, and forwards the safety instruction to the execution mechanism 212, and the execution mechanism 212 performs corresponding processing according to the emergency stop instruction, so that the emergency stop instruction is further determined and further executed, that is, the accuracy of transmission of the emergency stop instruction is improved.

In an alternative embodiment of the present invention, the actuator 212 includes: the device comprises a delay component, a movement controller, a safety driver, a motor and a speed encoder;

the mobile controller is configured to respond to the analysis result of the emergency stop instruction, obtain the current moving speed of the mobile equipment, predict motor deceleration information according to the current moving speed, and send the motor deceleration information to the safety driver;

the safety driver is configured to drive the motor to decelerate according to the motor deceleration information;

the delay component is configured to respond to the analysis result of the emergency stop instruction, and send a power-off instruction to the safety driver under the condition that a preset delay time is reached;

the safety driver is further configured to drive the motor to be powered off and to be braked according to the power-off instruction;

the speed encoder is configured to acquire the current rotating speed of the motor and feed the current rotating speed back to the mobile controller;

the mobile controller is further configured to generate alarm information when the current rotating speed is not matched with a preset rotating speed.

Specifically, the motion controller is a controller for controlling the actuator 212 of the mobile device, and is configured to respond to the analysis result of the emergency stop instruction, obtain the current moving speed of the mobile device, and predict motor deceleration information based on the analysis result and the current moving speed; the motor deceleration information may be motor deceleration information that causes the actuator 212 to perform an emergency stop operation based on the analysis result, and thus predict that the mobile device is not damaged according to the current speed. The motor deceleration information is acceleration information or a rotation speed of the motor predicted to decelerate the mobile device. The safety driver is a device in the mobile device for driving the motor of the mobile device based on the instruction of the mobile controller, that is, for driving the motor to decelerate according to the motor deceleration information, so that the mobile device decelerates and stops. The delay component is a device for controlling delayed shutdown of the motor, for example, the delay component may be a device that sets a delay time in advance, and when the preset delay time is reached, the delay component sends a power-off instruction to the motor, where the delay time is usually set according to a resistance value adjusted by a dial switch, the delay time is completed by a hardware circuit, and the delay time is defaulted to 2 seconds, and the delay component can be adjusted according to different ground conditions and speed requirements of each item, and the power-off instruction may be power-off, shutdown, band-type brake, and the like of the motor.

Further, according to the delay assembly, under the condition that the preset delay time is reached, the safety driver also drives the motor to power off the internal contracting brake corresponding to the power off command sent by the delay assembly. The speed encoder is used for acquiring the real-time rotating speed of the motor in the process of decelerating the motor until the motor stops when the motor is subjected to power-off brake based on the safety driver, wherein the motor is subjected to power-off and brake-holding and needs to be subjected to a series of processing of deceleration, stop, shutdown and brake-holding; and then the mobile controller is also configured to match the current rotating speed acquired in real time with a preset rotating speed, and if the current rotating speed is not matched with the preset rotating speed, alarm information is generated, for example, in the third second when the motor starts to decelerate, the preset rotating speed is 3, and the current rotating speed is 2.8, the alarm information is determined to be not matched, and the alarm information is generated.

By applying the scheme of the embodiment of the invention, the executing mechanism comprises the delay component, the mobile controller, the safety driver, the motor and the speed encoder, the speed reduction information of the motor is predicted through the mobile controller, the current rotating speed of the motor is acquired through the speed encoder, whether the current rotating speed is matched with the preset rotating speed of the motor is determined, and whether alarm information is generated or not is further determined; the delay assembly drives the motor to carry out power-off contracting brake through the safety driver no matter whether the motor decelerates and stops to reach zero speed or not when reaching the preset delay time through the preset delay time, so that the situation that the mobile equipment does not execute shutdown operation within the preset time to cause greater loss after receiving an emergency stop instruction is avoided.

In an optional embodiment of the present invention, the mobile controller is further configured to send a power-on command to the secure driver in case of receiving a reset command forwarded by the second secure control mechanism;

a safety driver further configured to drive the motor to reset according to the power-on command.

And the mobile controller sends a power-on command to the safety driver under the condition of receiving a reset command forwarded by the second safety control mechanism, so that the motor is reset, namely, the shutdown and band-type brake state is relieved, and the corresponding scheduling processing can be directly carried out on the basis of the scheduling command when the scheduling command is received subsequently. And the safety driver drives the motor to execute power-on operation under the condition of receiving a power-on command sent by the mobile controller, namely, the states of shutdown and band-type brake are released, and the motor enters a standby state.

Referring to fig. 3, fig. 3 shows a flowchart of interaction of an actuator under a motion control system architecture according to an embodiment of the present invention, which is specifically as follows:

the actuating mechanism includes: the device comprises a delay component, a movement controller, a safety driver, a motor and a speed encoder;

when the execution mechanism receives the emergency stop command, the specific data flow is as follows:

the first stage is as follows: the mobile controller receives the emergency stop instruction transmitted by the second safety control mechanism, acquires the current moving speed of the mobile equipment, predicts motor deceleration information according to the current moving speed and sends the motor deceleration information to the safety driver;

and a second stage: the left safety driver and the right safety driver respectively drive the left motor and the right motor to decelerate according to the motor deceleration information;

and a third stage: the delay assembly simultaneously receives an emergency stop instruction transmitted by the second safety control mechanism, and sends a power-off instruction to the safety driver under the condition of reaching preset delay time;

a fourth stage: the left safety driver and the right safety driver respectively drive the left motor and the right motor to be powered off and brake according to the power-off instruction;

the fifth stage: the speed encoder acquires the current rotating speeds of the left motor and the right motor and feeds the current rotating speeds back to the mobile controller, and the mobile controller generates alarm information under the condition that the current rotating speeds are not matched with the preset rotating speeds.

By applying the scheme of the embodiment of the invention, when the mobile controller receives the reset instruction, the power-on instruction is sent to the safety driver, so that the safety driver drives the motor to reset and recover the standby state, the mobile device can be directly scheduled when being scheduled subsequently, and the efficiency of the subsequent work of the mobile device is improved.

In an alternative embodiment of the invention, the actuator comprises: the safety controller, the mobile controller, the safety driver, the motor and the data encoder;

the safety controller is configured to receive an analysis result of the emergency stop instruction and forward the analysis result to the mobile controller;

the mobile controller is configured to respond to the analysis result, obtain the current moving speed of the mobile equipment, predict motor deceleration information according to the current moving speed and send the motor deceleration information to the safety driver;

the data encoder is configured to acquire the current rotating speed of the motor and feed the current rotating speed back to the safety controller;

the safety controller is further configured to monitor the motor deceleration information, identify whether the motor is abnormally decelerated according to the current rotating speed, and send a power-off instruction to the safety driver if the motor is abnormally decelerated;

the safety driver is further configured to drive the motor to be powered off and to be braked according to the power-off instruction.

Specifically, the safety controller is a device for monitoring and controlling safety deceleration of the mobile device, for example, when the motor is not decelerated at a predetermined speed, it is determined that the motor is abnormal.

When the safety controller receives an analysis result of the emergency stop instruction, the analysis result is sent to the mobile controller, so that the mobile controller can control the mobile equipment to perform corresponding processing based on the analysis result; the mobile controller obtains the current speed of the mobile equipment based on the analysis result, predicts to obtain motor deceleration information, and sends the motor deceleration information to the safety driver, so that the safety driver drives the motor to decelerate based on the predicted motor deceleration information, the data encoder simultaneously obtains the real-time current rotating speed of the motor, and feeds the obtained current rotating speed back to the mobile controller, the mobile controller monitors the deceleration information of the motor, matches the current rotating speed of the motor with the rotating speed in the predicted motor deceleration information, judges whether deceleration abnormity exists or not, and sends a power-off instruction to the safety driver if the deceleration abnormity occurs; the safety driver drives the motor to cut off the power and brake.

In addition, if the mobile controller is matched with the predicted motor speed reduction information according to the current speed of the motor, the motor speed reduction information and the predicted motor speed reduction information are found to be matched, namely the motor is not subjected to speed reduction abnormity, the motor is driven to reduce speed only by the safety driver, and the driver is not required to be powered off and brake.

By applying the scheme of the embodiment of the invention, the execution mechanism comprises a safety controller, a mobile controller, a safety driver, a motor and a data encoder, wherein the mobile controller receives an emergency stop instruction and predicts to obtain motor deceleration information, the safety driver is used for driving the motor to decelerate according to the motor deceleration information, meanwhile, the data encoder acquires the current rotating speed of the motor in real time and forwards the current rotating speed to the safety controller, the safety controller monitors the rotating speed of the motor and judges whether the motor is abnormal or not, and when the abnormal condition is determined, the safety driver is used for driving the motor to cut off the power and brake, so that the safety of the motor is ensured to a certain extent, and errors caused when the motor is abnormally decelerated are avoided.

In an optional embodiment of the present invention, the safety controller is further configured to, in a case of receiving a reset instruction forwarded by the second safety control mechanism, forward the reset instruction to the mobile controller;

a mobile controller further configured to send a power-on instruction to the secure driver in response to the reset instruction;

And the safety controller sends the reset instruction to the mobile controller under the condition of receiving the reset instruction sent by the second safety control mechanism, and the mobile controller carries out corresponding processing on the reset instruction, namely the mobile controller sends a power-on instruction to the safety driver based on the reset instruction, so that the safety driver drives the motor to carry out power-on operation, namely the shutdown and band-type brake states are released, and the motor can be directly scheduled based on the scheduling instruction when receiving the scheduling instruction.

Referring to fig. 4, fig. 4 is a flowchart illustrating an actuator interaction under another motion control system architecture according to an embodiment of the present invention, which is specifically as follows:

the actuating mechanism includes: the safety controller, the mobile controller, the safety driver, the motor and the data encoder are arranged on the base;

the first stage is as follows: the safety controller receives an analysis result of the emergency stop command and forwards the analysis result to the mobile controller; the mobile controller receives the emergency stop instruction, obtains the current moving speed of the mobile equipment, predicts motor deceleration information according to the current moving speed, and sends the motor deceleration information to the left safety driver and the right safety driver;

and a second stage: the safety driver left and the safety driver right drive the motor left and the motor right to decelerate according to the motor deceleration information; the data encoder acquires the current rotating speed of the motor and feeds the current rotating speed back to the safety controller;

and a third stage: the safety controller monitors the motor deceleration information, identifies whether the motor left and the motor right are in abnormal deceleration according to the current rotating speed, and sends power-off instructions to the safety driver left and the safety driver right if the motor left and the motor right are in abnormal deceleration; and the left safety driver and the right safety driver drive the left motor and the right motor to be powered off and braked according to the power-off instruction.

By applying the scheme of the embodiment of the invention, when the safety controller receives the reset instruction, the reset instruction is forwarded to the mobile controller, and the mobile controller sends the power-on instruction to the safety driver so as to enable the safety driver to drive the motor to execute the power-on operation, so that the safety driver can directly receive another instruction in the follow-up process and directly act based on the instruction.

In an optional embodiment of the present invention, the control platform is further configured to generate a scheduling instruction, and transmit the scheduling instruction to the mobile device through a second communication link, where the scheduling instruction conforms to a preset data link communication protocol, and the second communication link is a communication link of the preset data link communication protocol in the at least two communication links;

the mobile device is further configured to receive the scheduling instruction through the second communication link, parse the scheduling instruction, and execute a scheduling operation based on a parsing result.

Specifically, the scheduling instruction refers to an instruction generated by human operation or system software to schedule the mobile device, and the scheduling instruction conforms to a preset data link communication protocol, for example, the scheduling instruction may be an instruction to press a button of the mobile device to carry goods, to input an instruction to place goods on a certain shelf by the mobile device, or the like. After the control platform generates the scheduling instruction, the scheduling instruction is transmitted to the mobile equipment end through the second communication link, corresponding scheduling processing is carried out by the mobile equipment end, in addition, when the scheduling instruction which accords with the preset data link communication protocol is transmitted through the second communication link, the scheduling instruction can be protected by the preset data link communication protocol, and influence on transmission of the emergency stop instruction is greatly reduced.

By applying the scheme of the embodiment of the invention, the control platform is also used for generating the scheduling instruction, the generated scheduling instruction conforms to the preset data link communication protocol and is transmitted to the mobile equipment end through the second communication link, the mobile equipment receives the scheduling instruction through the second communication link and analyzes the scheduling instruction to obtain an analysis result, the scheduling work is executed based on the analysis result, and the scheduling instruction is transmitted through the second communication link different from the first communication link, so that the influence on the transmission of the emergency stop instruction is greatly reduced while the safety of the transmission of the scheduling instruction is ensured.

In an optional embodiment of the present invention, the control platform is further configured to generate a reset instruction in a case that it is detected that a reset event is triggered, and transmit the reset instruction to the mobile device through the first communication link;

the mobile device is further configured to receive the reset instruction through the first communication link, analyze the reset instruction, and resume work based on an analysis result.

Specifically, the reset event refers to an event that the mobile device is reset due to human or system software reasons, for example, the triggering of the reset event may be that an emergency stop button of a mobile device area is released, a raster is changed from being blocked to being normal, a starting action is manually performed after a security gate is closed, and the like. When the reset event is detected to be triggered, the control platform generates a reset instruction, transmits the reset instruction to the mobile device, and the mobile device performs corresponding reset processing based on the reset instruction, namely, resumes work, that is, by detecting whether the reset event is triggered or not, so that corresponding processing can be rapidly performed under the condition that the reset event is triggered, and a processing flow corresponding to the reset event is prevented from not being generated. The reset instruction is an instruction including information for instructing the mobile device to reset, and the mobile device can be restored to operate in the stopped state by the reset instruction.

When the control platform detects that the reset event is triggered, a reset instruction is generated and transmitted to the mobile equipment through the first communication link, the mobile equipment receives the reset instruction through the first communication link, analyzes the reset instruction, and work is recovered based on the result obtained through analysis.

Based on fig. 2, the network communication stack receives the control instruction, and performs filtering identification on the received control instruction, identifies that the control instruction is a non-secure instruction received from the first communication link, analyzes the non-secure instruction through a preset data link communication protocol to obtain a reset instruction, and then outputs the reset instruction to the execution structure according to the formats of the Ethernet/IP protocol and the CAN bus protocol. Certainly, in another implementation manner, the reset instruction may also be a security instruction, the network communication stack forwards the security instruction to the security protocol stack, the security protocol stack analyzes the security instruction conforming to the preset security communication protocol through the preset security communication protocol to obtain an analysis result as the reset instruction, and then the analysis result is safely output in an input and output quantity form through the second secure input and output interface.

By applying the scheme of the embodiment of the invention, when the control platform detects that the reset event is triggered, the control platform generates the reset instruction and transmits the reset instruction to the mobile equipment through the first communication link, so that the mobile equipment receives the reset instruction through the first communication link and analyzes the reset instruction to obtain an analysis result which can be correspondingly processed by the mobile equipment based on the information, and the mobile equipment performs recovery work based on the analysis result.

In an optional embodiment of the present invention, the mobile device is further configured to, after receiving the emergency stop instruction, feed back confirmation information to the control platform;

the control platform is further configured to send a prompt message to the mobile device if the confirmation information fed back by the mobile device is not received within a preset safety time period after the emergency stop instruction is transmitted to the mobile device;

the mobile device is further configured to perform a shutdown operation in response to the prompt message.

Specifically, the preset safety time period refers to a preset time period for feeding back a safety command, that is, after the control platform sends the emergency stop command to the mobile device, the control platform waits for a time length corresponding to the preset safety time period, and needs to receive a confirmation message of the mobile device within the preset time period. The confirmation message is a message corresponding to the emergency stop instruction and is used for informing the control platform that the mobile device receives the emergency stop instruction, wherein the control platform sends the emergency stop instruction to the mobile device, and the mobile device needs to feed back the confirmation message to the control platform based on the emergency stop instruction, so that the control platform confirms that the mobile device receives the emergency stop instruction. The prompt message is a message corresponding to the emergency stop instruction and the confirmation message, and is used for sending the prompt message to the mobile device again when the control platform does not receive the feedback of the mobile device, so that the mobile device executes the stop operation after receiving the prompt message, and the purpose that the mobile device is required by the emergency stop instruction is achieved.

Optionally, the method for causing the mobile device to execute the shutdown operation may also be that the control platform sets a preset time length in advance in a normal working period of the mobile device, the control platform sends the first interaction message to the mobile device every other preset time length, the mobile device needs to return the second interaction message to the control platform in a preset safety period, and if the control platform fails to send the first interaction message or the mobile device fails to send the second interaction message, the control platform sends a prompt message to the mobile device, so that the mobile device executes the shutdown operation in response to the prompt message.

Optionally, there are many possibilities that the acknowledgement message fed back by the mobile device is not received, and the control platform may not successfully send the emergency stop instruction, or the control platform may successfully send the emergency stop instruction, but the mobile device fails to send the acknowledgement message when returning the acknowledgement message.

After sending the emergency stop instruction to the mobile device, the control platform determines whether a confirmation message sent by the mobile device is received within a preset safety time period, and if so, the emergency stop process is ended.

By applying the scheme of the embodiment of the invention, the preset safety time interval is set on the control platform, and after the emergency stop instruction is sent, whether the confirmation message of the mobile equipment is received in the preset time interval is determined, if the confirmation message is not received, the prompt message is sent to the mobile equipment, so that the mobile equipment executes the stop operation, even if the mobile equipment does not execute the stop operation according to the emergency stop instruction, the stop operation can be executed according to the received prompt message, and the stop operation of the mobile equipment is ensured.

A first communication link and a second communication link exist between the control platform and the mobile equipment, wherein the first communication link conforms to a preset safe communication protocol, a safe task time interval is set at the control platform and the mobile equipment, after the control platform and the mobile equipment are connected, interactive confirmation is kept according to the safe task time interval, namely, when the control platform successfully sends out a first response message and receives a second response message returned by the mobile equipment, the current interactive confirmation is considered to be effective; if the control platform fails to send the first response message or the mobile device fails to return the second response message, the mobile device is controlled by the internal unit to automatically perform a safety state, namely an emergency stop state, which may be that the second safety control mechanism issues an emergency stop instruction to the execution mechanism, so that the mobile device is controlled to safely stop until the control platform and the mobile device are re-connected, and after the connection is re-established, the mobile device automatically jumps out of the safety state through the control of the internal unit and is restored to the state before entering the safety state.

Referring to fig. 5a and 5b, fig. 5a shows a data flow diagram of an exercise control system provided according to an embodiment of the present invention, and fig. 5b shows a data flow diagram of another exercise control system provided according to an embodiment of the present invention, which is as follows:

the control platform in fig. 5a includes a safety trigger mechanism, a first safety control mechanism, system software and a wireless transmitter; the mobile device comprises a wireless receiver and an actuating mechanism, wherein the interaction between the control platform and the mobile device is only carried out through a data link layer, namely a physical layer.

In a first communication link in fig. 5b, the control platform comprises a safety trigger mechanism, a first safety control mechanism and a wireless transmitter, and the mobile device comprises a wireless receiver, a second safety control mechanism and an actuator; in the second communication link, the control platform comprises system software and a wireless transmitter, the mobile device comprises a wireless receiver, a second safety control mechanism and an execution mechanism, wherein the first communication link is communicated through a safety communication layer protected by a preset safety communication protocol, and the second communication link is communicated through a data link layer.

By applying the scheme of the embodiment of the invention, the motion control system comprises: the mobile device comprises a control platform and at least one mobile device, wherein the control platform is communicated with each mobile device through at least two communication links; the control platform is configured to generate an emergency stop instruction under the condition that the safety event is detected to be triggered, and transmit the emergency stop instruction to the mobile equipment through a first communication link, wherein the first communication link is a communication link of a preset safety communication protocol in at least two communication links; the mobile equipment is configured to receive the emergency stop instruction through the first communication link, analyze the emergency stop instruction by using a preset safety communication protocol, and execute shutdown operation based on the analysis result. The emergency stop instruction according with the preset safety communication protocol is generated by arranging at least two communication links between the control platform and the mobile equipment under the condition that the control platform detects that the safety event is triggered, so that the emergency stop instruction can be transmitted to the mobile equipment through a first communication link of the preset safety communication protocol, the mobile equipment analyzes the emergency stop instruction after receiving the emergency stop instruction transmitted by the first communication link, and executes stop operation based on an analysis result, namely, the first communication link is set for the emergency stop instruction, different communication links are adopted for transmitting with other communication signals, and the transmission of the emergency stop instruction is protected through the preset safety communication protocol, so that the occurrence probability of transmission failure or errors when the emergency stop instruction is transmitted to the mobile equipment is reduced, and the transmission safety of the emergency stop instruction is improved.

Referring to fig. 6, fig. 6 is an interactive flowchart of a motion control method according to an embodiment of the present invention, applied to a motion control system, where the motion control system includes: the system comprises a control platform and at least one mobile device, wherein the control platform is communicated with each mobile device through at least two communication links; the method specifically comprises the following steps:

step 602: the control platform generates an emergency stop instruction under the condition that a safety event is detected to be triggered, and transmits the emergency stop instruction to the mobile equipment through a first communication link, wherein the emergency stop instruction conforms to a preset safety communication protocol, and the first communication link is a communication link of the preset safety communication protocol in the at least two communication links;

step 604: the mobile equipment receives the emergency stop instruction through the first communication link, analyzes the emergency stop instruction by using the preset safety communication protocol, and executes a stop operation based on an analysis result.

The specific embodiments of steps 602 to 604 refer to the system embodiment corresponding to fig. 1, which is not described herein again.

Referring to fig. 7, fig. 7 is a flowchart illustrating a motion control method applied to a control platform according to an embodiment of the present invention, which specifically includes the following steps:

step 702: generating an emergency stop instruction under the condition that the safety event is detected to be triggered;

step 704: and transmitting the emergency stop instruction to the mobile equipment through a first communication link, wherein the emergency stop instruction conforms to a preset safety communication protocol, and the first communication link is a communication link of the preset safety communication protocol in at least two communication links between the control platform and the mobile equipment.

The specific embodiments of steps 702 to 704 refer to the system embodiment corresponding to fig. 1, and are not described herein again.

Referring to fig. 8, fig. 8 is a flowchart illustrating a motion control method applied to a mobile device according to an embodiment of the present invention, which specifically includes the following steps:

step 802: receiving an emergency stop instruction transmitted by a control platform through a first communication link, wherein the first communication link is a communication link with a preset safety communication protocol in at least two communication links between the control platform and the mobile equipment, and the emergency stop instruction conforms to the preset safety communication protocol;

step 804: and analyzing the emergency stop instruction by using the preset safety communication protocol, and executing a stop operation based on an analysis result.

The specific embodiments of steps 802 to 804 refer to the system embodiment corresponding to fig. 1, which is not described herein again.

By applying the scheme of the embodiment of the invention, the motion control system comprises: the mobile device comprises a control platform and at least one mobile device, wherein the control platform is communicated with each mobile device through at least two communication links; the control platform is configured to generate an emergency stop instruction under the condition that the safety event is detected to be triggered, and transmit the emergency stop instruction to the mobile equipment through a first communication link, wherein the first communication link is a communication link with a preset safety communication protocol in at least two communication links; the mobile equipment is configured to receive the emergency stop instruction through the first communication link, analyze the emergency stop instruction by using a preset safety communication protocol, and execute shutdown operation based on the analysis result. The emergency stop instruction according with the preset safety communication protocol is generated by arranging at least two communication links between the control platform and the mobile equipment under the condition that the control platform detects that the safety event is triggered, so that the emergency stop instruction can be transmitted to the mobile equipment through a first communication link of the preset safety communication protocol, the mobile equipment analyzes the emergency stop instruction after receiving the emergency stop instruction transmitted by the first communication link, and executes stop operation based on an analysis result, namely, the first communication link is set for the emergency stop instruction, different communication links are adopted for transmitting with other communication signals, and the transmission of the emergency stop instruction is protected through the preset safety communication protocol, so that the occurrence probability of transmission failure or errors when the emergency stop instruction is transmitted to the mobile equipment is reduced, and the transmission safety of the emergency stop instruction is improved.

Fig. 9 is a block diagram illustrating a control platform according to an embodiment of the present invention. The components of the control platform include a safety trigger mechanism 902, a first safety control mechanism 904, a wireless transmitter 906.

The safety trigger mechanism 902 comprises an emergency stop button, a grating, a safety door and the like, the output signal forms of various safety trigger mechanisms 902 are specified by various device design manuals, the common emergency stop button is a double-loop pulse, the grating is an OSSD signal, and the safety door lock is an OSSD signal; the input is triggered by an operator or automatically; the output is an I/O signal output indicating the device state, including triggered, not triggered, or abnormal states.

Safety trigger 902 can be peripheral at the mobile device work area, and with the position of operating personnel butt joint, installs emergency stop button, grating and emergency exit, and wherein, the emergency exit is personnel's the only passageway of cominging in and going out mobile device work area, and mobile device work area keeps apart with the external world with fixed rail for reduce because striking or the extrusion risk that mobile device maloperation caused. After triggering, the first safety control mechanism 904 will issue an emergency stop command and transmit the emergency stop command to at least one mobile device; the safety door is provided with a safety door lock which is the only entrance for an operator to enter the working area of the mobile equipment. When the security door lock is activated, an emergency stop command will be sent by the first security control mechanism 904 and transmitted to the at least one mobile device; each safety trigger 902 is provided with a reset button by which a reset command can be triggered.

The first security control mechanism 904 comprises a first secure input output interface, a first security processor, and a secure network module; the input is a condition of whether the safety trigger 902 or the reset button is triggered, i.e., the output of the safety trigger 902 or the reset button; and (3) outputting: whether the security trigger mechanism 902 is triggered or whether the reset button is pressed is output in the form of a network port.

The first security control mechanism 904 may respond to the triggering of the security trigger mechanism 902 through logic programming and may transmit through the pre-set security communication protocol CIP safety. The first secure input/output interface is used for inputting the state of the secure trigger 902 to the first secure processor; the first security processor is configured to respond to the triggering of the security trigger mechanism 902 through logic programming. At the secure communication layer, the input signal is encoded into a secure format that conforms to the CIP security protocol. And executing checking actions specified by a preset safety communication protocol, such as redundancy detection, data integrity check, overtime detection, connection authorization detection and the like. The safety network module is used for sending the operation result of the safety CPU in a network port mode. The output signal of the first security control mechanism 904 is Ethernet/IP in the data link layer communication protocol and CIP security in the security communication layer, and sends out high-speed analog signal quantity in the form of a network port.

The wireless transmitter 906 comprises a switch, a wireless controller, a wireless access point, the input of which is the output of the first security control mechanism 904, and the output of which is the transmission of wireless signals to the mobile device. The switch is used for forwarding the data packet to a destination node port (a wireless controller and a wireless access point); the wireless controller and the wireless access point are used for converting the data packet into a wireless signal form and transmitting the wireless signal form to the mobile equipment.

Limiting the scope of the invention. Those skilled in the art may add or replace other components as desired.

It should be noted that the technical solution of the control platform and the technical solution of the motion control system belong to the same concept, and details that are not described in detail in the technical solution of the control platform can be referred to the description of the technical solution of the motion control system.

Fig. 10 is a block diagram illustrating a mobile device according to an embodiment of the present invention. The components of the mobile device include a wireless receiver 1002, a second security control mechanism 1004, an actuator 1006.

The wireless receiver 1002 comprises a wireless receiving module, a forwarding module and a wireless receiving processor; the input is a wireless signal; the output is an instruction in an ethernet format.

The wireless receiver 1002 is configured to convert the received wireless signal into a data packet in an ethernet port format. The wireless receiving module is used for receiving WIFI signals; the wireless receiving processor is used for data packet transparent transmission; the forwarding module is configured to forward the received wireless signal to an Ethernet port format, the wireless receiver 1002 receives a 2.4GHz wireless signal and transmits the wireless signal to the wireless receiving processor through the PCIE bus, and the wireless receiving processor transparently transmits the signal and the forwarding module outputs the signal from the internet via the Ethernet/IP protocol format.

The second security control mechanism 1004 includes a network communication stack, a second processor, a security protocol stack, and a second security input/output interface, and inputs a data packet in an ethernet port format; the outputs are secure and non-secure outputs.

The second security control mechanism 1004 parses the non-secure data packets in the Ethernet/IP communication protocol format. And for the safety data packet, analyzing the safety data packet in a CIP safety preset safety communication protocol format. And outputting the analyzed instruction in the format of input and output quantity. The network communication stack is an Ethernet/IP communication stack module and is used for filtering data packets into safe data and non-safe data. For secure data, the network communication stack sends it to the security protocol stack. For non-secure data, the network communication stack parses it into non-secure instructions. The second processor is configured to configure initialization information of the network protocol stack, acquire status information and fault information of each sub-module of the second safety control mechanism 1004, and output a non-safety instruction, such as a reset instruction. The security protocol stack and the second security input/output interface are used for analyzing the security data in the CIP safety preset security communication protocol format and performing security output, such as a system emergency stop instruction. The input signal of the network communication stack is used for receiving an Ethernet/IP protocol data packet in a network port mode, the output signal is used for interacting to an execution mechanism through the Ethernet/IP protocol and a CAN bus protocol so as to transmit state information such as initialization, fault information and a reset instruction, and the safety data packet is transmitted to the safety protocol stack. And the safety protocol stack outputs the analyzed safety command signal in an input and output quantity mode through a second safety input and output interface.

The actuator 1006 may be a device including a delay element, motion controller, safety drive, motor, data encoder; the input is a safety command analyzed by the second safety control mechanism 1004; the output is that the actuator 1006 acts as commanded.

The actuator 1006 is used to act upon demand. When the execution mechanism 1006 receives the emergency stop instruction, the mobile controller receives the emergency stop instruction transmitted by the second safety control mechanism 1004, obtains the current moving speed of the mobile device, predicts motor deceleration information according to the current moving speed, and sends the motor deceleration information to the safety driver; the safety driver comprises a safety driver left side and a safety driver right side, and the safety driver respectively drives the motor left side and the motor right side to decelerate according to the motor deceleration information; the delay assembly simultaneously receives an emergency stop instruction transmitted by the second safety control mechanism 1004, and sends a power-off instruction to the safety driver when the preset delay time is reached; the left safety driver and the right safety driver respectively drive the left motor and the right motor to be powered off and brake according to the power-off instruction; the speed encoder acquires the current rotating speeds of the left motor and the right motor and feeds the current rotating speeds back to the mobile controller, and the mobile controller generates alarm information under the condition that the current rotating speeds are not matched with the preset rotating speeds.

And after receiving the reset instruction, the motor is electrified and releases the brake to wait for a new instruction of the control platform. The received wireless signal will be transmitted directly to the mobile controller for interpretation, unlike the scram command transmission link. The reset command is passed from the network protocol stack to the second processor in the second security control mechanism 1004 and forwarded to the mobile controller. And the mobile controller sends motor power-on and brake releasing instructions to the safety driver, and then the motor is reset. The mobile device will come to rest and wait until a scheduling instruction is received. The second safety control mechanism 1004 outputs the emergency stop command in the form of input and output quantity through the second safety input and output interface, outputs the reset signal in the CAN bus protocol, and finally responds to the emergency stop of the system by stopping the mobile equipment, powering off the motor and contracting the brake.

The actuator 1006 may be a device including a safety controller, a motion controller, a safety drive, a motor, and a data encoder.

When the execution mechanism 1006 receives the emergency stop instruction, the safety controller receives an analysis result of the emergency stop instruction, and forwards the analysis result to the mobile controller; the mobile controller receives the emergency stop instruction, obtains the current moving speed of the mobile equipment, predicts motor deceleration information according to the current moving speed, and sends the motor deceleration information to the left safety driver and the right safety driver; the safety driver left and the safety driver right drive the motor left and the motor right to decelerate according to the motor deceleration information; the data encoder acquires the current rotating speed of the motor and feeds the current rotating speed back to the safety controller; the safety controller monitors the motor deceleration information, identifies whether the left motor and the right motor are in abnormal deceleration according to the current rotating speed, and sends power-off instructions to the left safety driver and the right safety driver if the left motor and the right motor are in abnormal deceleration; and the left safety driver and the right safety driver drive the left motor and the right motor to be powered off and braked according to the power-off instruction.

And after receiving the reset instruction, the mobile equipment jumps out of the emergency stop state of the system and enters a normal state. If the motor is in a band-type brake at the moment, the mobile equipment releases the band-type brake, stands still in place and waits for a system scheduling command from the control platform. The system dispatch command link from the control platform to the mobile device does not pass through the second security control mechanism 1004. The received wireless signal is directly transmitted to the mobile controller for analysis, and is not the same as the emergency stop instruction transmission link. The reset command is sent from the network protocol stack to the second processor of the second security control mechanism 1004, forwarded to the security controller and then to the mobile controller. The mobile controller sends a reset command to the safety driver, and the motor is reset. The mobile device will be stationary in place before receiving the scheduling instructions. The second safety control mechanism 1004 outputs a reset instruction and an emergency stop instruction in the form of a common input/output interface and a safety input/output interface respectively, and the final system emergency stop response is the stop of the mobile equipment.

It should be noted that the technical solution of the mobile device and the technical solution of the motion control system described above belong to the same concept, and details that are not described in detail in the technical solution of the mobile device can be referred to the description of the technical solution of the motion control system described above.

The foregoing description of specific embodiments of this invention has been presented. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

It should be noted that for simplicity and convenience of description, the above-described method embodiments are shown as a series of combinations of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in this disclosure are preferred embodiments and that acts and modules are not necessarily required to practice the invention.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A motion control system, comprising: the system comprises a control platform and at least one mobile device, wherein the control platform is communicated with each mobile device through at least two communication links;

the control platform is configured to generate an emergency stop instruction when a security event is detected to be triggered, and transmit the emergency stop instruction to the mobile device through a first communication link, wherein the emergency stop instruction conforms to a preset security communication protocol, and the first communication link is a communication link of the preset security communication protocol in the at least two communication links;

the mobile device is configured to receive the emergency stop instruction through the first communication link, analyze the emergency stop instruction by using the preset safe communication protocol, and execute a shutdown operation based on an analysis result.

2. The system of claim 1, wherein the control platform comprises a safety trigger mechanism and a first safety control mechanism;

the safety trigger mechanism is configured to generate a safety event trigger signal and send the safety event trigger signal to the first safety control mechanism when an event meeting a safety trigger condition is identified to occur;

the first safety control mechanism is configured to receive the safety event trigger signal sent by the safety trigger mechanism, encode the safety event trigger signal by using the preset safety communication protocol to obtain an emergency stop instruction, and transmit the emergency stop instruction to the mobile device through a first communication link.

3. The system of claim 1 or 2, wherein the control platform comprises a wireless transmitter;

the wireless transmitter is configured to forward the emergency stop instruction to a destination port, and convert the emergency stop instruction into a wireless signal through the destination port to transmit the wireless signal to the mobile device, where the destination port is a port through which the control platform and the mobile device perform data transmission through the first communication link.

4. The system of claim 3, wherein the control platform further comprises a network address translation device;

5. The system of claim 3, wherein the mobile device comprises a wireless receiver;

6. The system according to any one of claims 1, 2 and 5, wherein the mobile device comprises a second safety control mechanism and an actuator;

the second safety control mechanism is configured to analyze the emergency stop instruction by using the preset safety communication protocol to obtain an analysis result, and send the analysis result to the execution mechanism;

the execution mechanism is configured to execute shutdown operation based on the analysis result.

7. The system of claim 6, wherein the actuator comprises: the device comprises a delay component, a movement controller, a safety driver, a motor and a speed encoder;

the mobile controller is further configured to generate alarm information under the condition that the current rotating speed is not matched with a preset rotating speed.

8. The system of claim 7, wherein the mobile controller is further configured to send a power-on command to the secure drive upon receiving a reset command forwarded by the second security control mechanism;

the safety driver is further configured to drive the motor to reset according to the power-on command.

9. The system of claim 6, wherein the actuator comprises: the safety controller, the mobile controller, the safety driver, the motor and the data encoder;

the mobile controller is configured to respond to the analysis result, obtain the current moving speed of the mobile equipment, predict motor deceleration information according to the current moving speed, and send the motor deceleration information to the safety driver;

10. The system of claim 9, wherein the safety controller is further configured to forward a reset command to the mobile controller upon receiving the reset command forwarded by the second safety control mechanism;

the mobile controller further configured to send a power-on instruction to the secure driver in response to the reset instruction;

11. The system of claim 1, wherein the control platform is further configured to generate a scheduling command, and transmit the scheduling command to the mobile device via a second communication link, wherein the scheduling command conforms to a predetermined data link communication protocol, and the second communication link is a communication link of the predetermined data link communication protocol of the at least two communication links;

12. The system of claim 1, wherein the control platform is further configured to generate a reset instruction upon detecting that a reset event is triggered, the reset instruction being transmitted to the mobile device over the first communication link;

13. The system of claim 1, wherein the mobile device is further configured to feed back confirmation information to the control platform after receiving the emergency stop instruction;

14. A motion control method, applied to a motion control system, the motion control system comprising: the system comprises a control platform and at least one mobile device, wherein the control platform is communicated with each mobile device through at least two communication links; the method comprises the following steps:

the control platform generates an emergency stop instruction under the condition that a safety event is detected to be triggered, and transmits the emergency stop instruction to the mobile equipment through a first communication link, wherein the emergency stop instruction conforms to a preset safety communication protocol, and the first communication link is a communication link of the preset safety communication protocol in the at least two communication links;

the mobile equipment receives the emergency stop instruction through the first communication link, analyzes the emergency stop instruction by using the preset safety communication protocol, and executes a stop operation based on an analysis result.

15. A motion control method is applied to a control platform, and comprises the following steps:

and transmitting the emergency stop instruction to the mobile equipment through a first communication link, wherein the emergency stop instruction conforms to a preset safety communication protocol, and the first communication link is a communication link of the preset safety communication protocol in at least two communication links between the control platform and the mobile equipment.

16. A motion control method applied to a mobile device, the method comprising:

receiving an emergency stop instruction transmitted by a control platform through a first communication link, wherein the first communication link is a communication link with a preset safety communication protocol in at least two communication links between the control platform and the mobile device, and the emergency stop instruction conforms to the preset safety communication protocol;

and analyzing the emergency stop instruction by using the preset safety communication protocol, and executing a stop operation based on an analysis result.